Rev 252 | Rev 254 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 252 | Rev 253 | ||
|---|---|---|---|
| Line 54... | Line 54... | ||
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <string.h> |
57 | #include <string.h> |
| 58 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
| 59 | #include "hmc5843.h" |
59 | #include "ncmag.h" |
| 60 | #include "i2c.h" |
60 | #include "i2c.h" |
| 61 | #include "timer1.h" |
61 | #include "timer1.h" |
| 62 | #include "led.h" |
62 | #include "led.h" |
| 63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
| 64 | #include "uart1.h" |
64 | #include "uart1.h" |
| 65 | #include "compass.h" |
- | |
| Line 66... | Line 65... | ||
| 66 | 65 | ||
| Line -... | Line 66... | ||
| - | 66 | u8 NCMAG_Present = 0; |
|
| - | 67 | ||
| - | 68 | #define MAG_TYPE_NONE 0 |
|
| 67 | #define HMC5843_SLAVE_ADDRESS 0x3C // i2C slave address |
69 | #define MAG_TYPE_HMC5843 1 |
| - | 70 | #define MAG_TYPE_LSM303DLH 2 |
|
| - | 71 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
|
| - | 72 | ||
| - | 73 | // i2c MAG interface |
|
| - | 74 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
|
| - | 75 | ||
| - | 76 | // register mapping |
|
| - | 77 | #define REG_MAG_CRA 0x00 |
|
| - | 78 | #define REG_MAG_CRB 0x01 |
|
| - | 79 | #define REG_MAG_MODE 0x02 |
|
| - | 80 | #define REG_MAG_DATAX_MSB 0x03 |
|
| - | 81 | #define REG_MAG_DATAX_LSB 0x04 |
|
| - | 82 | #define REG_MAG_DATAY_MSB 0x05 |
|
| - | 83 | #define REG_MAG_DATAY_LSB 0x06 |
|
| - | 84 | #define REG_MAG_DATAZ_MSB 0x07 |
|
| - | 85 | #define REG_MAG_DATAZ_LSB 0x08 |
|
| - | 86 | #define REG_MAG_STATUS 0x09 |
|
| - | 87 | #define REG_MAG_IDA 0x0A |
|
| - | 88 | #define REG_MAG_IDB 0x0B |
|
| - | 89 | #define REG_MAG_IDC 0x0C |
|
| - | 90 | ||
| - | 91 | // bit mask for configuration mode |
|
| - | 92 | #define CRA_MODE_MASK 0x03 |
|
| - | 93 | #define CRA_MODE_NORMAL 0x00 //default |
|
| - | 94 | #define CRA_MODE_POSBIAS 0x01 |
|
| Line 68... | Line -... | ||
| 68 | - | ||
| 69 | u8 HMC5843_Present = 0; |
- | |
| 70 | - | ||
| 71 | #define REGISTER_CRA 0 |
95 | #define CRA_MODE_NEGBIAS 0x02 |
| 72 | #define REGISTER_CRB 1 |
96 | #define CRA_MODE_SELFTEST 0x03 |
| 73 | #define REGISTER_MODE 2 |
97 | |
| 74 | #define REGISTER_DATAX_MSB 3 |
98 | // bit mask for measurement mode |
| 75 | #define REGISTER_DATAX_LSB 4 |
99 | #define MODE_MASK 0xFF |
| 76 | #define REGISTER_DATAY_MSB 5 |
100 | #define MODE_CONTINUOUS 0x00 |
| - | 101 | #define MODE_SINGLE 0x01 // default |
|
| 77 | #define REGISTER_DATAY_LSB 6 |
102 | #define MODE_IDLE 0x02 |
| 78 | #define REGISTER_DATAZ_MSB 7 |
103 | #define MODE_SLEEP 0x03 |
| - | 104 | ||
| 79 | #define REGISTER_DATAZ_LSB 8 |
105 | // bit mask for rate |
| 80 | #define REGISTER_STATUS 9 |
106 | #define CRA_RATE_MASK 0x1C |
| 81 | #define REGISTER_IDA 10 |
107 | |
| 82 | #define REGISTER_IDB 11 |
108 | // bit mask for gain |
| 83 | #define REGISTER_IDC 12 |
109 | #define CRB_GAIN_MASK 0xE0 |
| 84 | 110 | ||
| 85 | 111 | // ids |
|
| Line -... | Line 112... | ||
| - | 112 | #define MAG_IDA 0x48 |
|
| 86 | #define HMC5843_IDA 0x48 |
113 | #define MAG_IDB 0x34 |
| 87 | #define HMC5843_IDB 0x34 |
- | |
| 88 | #define HMC5843_IDC 0x33 |
114 | #define MAG_IDC 0x33 |
| 89 | 115 | ||
| 90 | // bit mask for rate |
116 | // the special HMC5843 interface |
| 91 | #define HMC5843_CRA_RATE_MASK 0x1C |
117 | // bit mask for rate |
| 92 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
118 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
| 93 | #define HMC5843_CRA_RATE_1HZ 0x04 |
119 | #define HMC5843_CRA_RATE_1HZ 0x04 |
| 94 | #define HMC5843_CRA_RATE_2HZ 0x08 |
120 | #define HMC5843_CRA_RATE_2HZ 0x08 |
| 95 | #define HMC5843_CRA_RATE_5HZ 0x0C |
- | |
| 96 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
- | |
| 97 | #define HMC5843_CRA_RATE_20HZ 0x14 |
- | |
| 98 | #define HMC5843_CRA_RATE_50HZ 0x18 |
- | |
| 99 | - | ||
| 100 | // bit mask for mode |
- | |
| 101 | #define HMC5843_CRA_MODE_MASK 0x03 |
- | |
| 102 | #define HMC5843_CRA_MODE_NORMAL 0x00 //default |
- | |
| 103 | #define HMC5843_CRA_MODE_POSBIAS 0x01 |
121 | #define HMC5843_CRA_RATE_5HZ 0x0C |
| 104 | #define HMC5843_CRA_MODE_NEGBIAS 0x02 |
- | |
| 105 | #define HMC5843_CRA_MODE_SELFTEST 0x03 |
122 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
| 106 | 123 | #define HMC5843_CRA_RATE_20HZ 0x14 |
|
| 107 | // bit mask for gain |
124 | #define HMC5843_CRA_RATE_50HZ 0x18 |
| 108 | #define HMC5843_CRB_GAIN_MASK 0xE0 |
125 | // bit mask for gain |
| 109 | #define HMC5843_CRB_GAIN_07GA 0x00 |
126 | #define HMC5843_CRB_GAIN_07GA 0x00 |
| 110 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
127 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
| 111 | #define HMC5843_CRB_GAIN_15GA 0x40 |
128 | #define HMC5843_CRB_GAIN_15GA 0x40 |
| 112 | #define HMC5843_CRB_GAIN_20GA 0x60 |
129 | #define HMC5843_CRB_GAIN_20GA 0x60 |
| - | 130 | #define HMC5843_CRB_GAIN_32GA 0x80 |
|
| - | 131 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
|
| - | 132 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
|
| - | 133 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
|
| - | 134 | // self test value |
|
| - | 135 | #define HMC5843_TEST_XSCALE 715 |
|
| - | 136 | #define HMC5843_TEST_YSCALE 715 |
|
| - | 137 | #define HMC5843_TEST_ZSCALE 715 |
|
| - | 138 | ||
| - | 139 | ||
| - | 140 | // the special LSM302DLH interface |
|
| - | 141 | // bit mask for rate |
|
| - | 142 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
|
| - | 143 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
|
| - | 144 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
|
| - | 145 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
|
| - | 146 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
|
| - | 147 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
|
| - | 148 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
|
| - | 149 | // bit mask for gain |
|
| - | 150 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
|
| - | 151 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
|
| - | 152 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
|
| - | 153 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
|
| - | 154 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
|
| - | 155 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
|
| - | 156 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
|
| - | 157 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
|
| - | 158 | // self test value |
|
| - | 159 | #define LSM303DLH_TEST_XSCALE 655 |
|
| - | 160 | #define LSM303DLH_TEST_YSCALE 655 |
|
| - | 161 | #define LSM303DLH_TEST_ZSCALE 630 |
|
| - | 162 | ||
| - | 163 | // the i2c ACC interface |
|
| - | 164 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
|
| - | 165 | // register mapping |
|
| - | 166 | #define REG_ACC_CTRL1 0x20 |
|
| - | 167 | #define REG_ACC_CTRL2 0x21 |
|
| - | 168 | #define REG_ACC_CTRL3 0x22 |
|
| - | 169 | #define REG_ACC_CTRL4 0x23 |
|
| - | 170 | #define REG_ACC_CTRL5 0x24 |
|
| - | 171 | #define REG_ACC_HP_FILTER_RESET 0x25 |
|
| - | 172 | #define REG_ACC_REFERENCE 0x26 |
|
| - | 173 | #define REG_ACC_STATUS 0x27 |
|
| - | 174 | #define REG_ACC_X_LSB 0x28 |
|
| - | 175 | #define REG_ACC_X_MSB 0x29 |
|
| - | 176 | #define REG_ACC_Y_LSB 0x2A |
|
| Line 113... | Line -... | ||
| 113 | #define HMC5843_CRB_GAIN_32GA 0x80 |
- | |
| 114 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
- | |
| 115 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
- | |
| 116 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
- | |
| 117 | - | ||
| 118 | // bit mask for measurement mode |
- | |
| Line 119... | Line 177... | ||
| 119 | #define HMC5843_MODE_MASK 0xFF |
177 | #define REG_ACC_Y_MSB 0x2B |
| 120 | #define HMC5843_MODE_CONTINUOUS 0x00 |
178 | #define REG_ACC_Z_LSB 0x2C |
| 121 | #define HMC5843_MODE_SINGLE 0x01 // default |
179 | #define REG_ACC_Z_MSB 0x2D |
| 122 | #define HMC5843_MODE_IDLE 0x02 |
180 | |
| 123 | #define HMC5843_MODE_SLEEP 0x03 |
181 | |
| 124 | 182 | ||
| Line 125... | Line 183... | ||
| 125 | typedef struct |
183 | typedef struct |
| Line -... | Line 184... | ||
| - | 184 | { |
|
| - | 185 | u8 A; |
|
| - | 186 | u8 B; |
|
| - | 187 | u8 C; |
|
| - | 188 | } __attribute__((packed)) Identification_t; |
|
| - | 189 | ||
| - | 190 | volatile Identification_t NCMAG_Identification; |
|
| - | 191 | ||
| - | 192 | typedef struct |
|
| - | 193 | { |
|
| - | 194 | u8 cra; |
|
| - | 195 | u8 crb; |
|
| - | 196 | u8 mode; |
|
| - | 197 | } __attribute__((packed)) MagConfig_t; |
|
| - | 198 | ||
| - | 199 | volatile MagConfig_t MagConfig; |
|
| - | 200 | ||
| - | 201 | typedef struct |
|
| - | 202 | { |
|
| - | 203 | u8 ctrl_1; |
|
| - | 204 | u8 ctrl_2; |
|
| Line 126... | Line 205... | ||
| 126 | { |
205 | u8 ctrl_3; |
| Line 127... | Line 206... | ||
| 127 | u8 A; |
206 | u8 ctrl_4; |
| 128 | u8 B; |
207 | u8 ctrl_5; |
| 129 | u8 C; |
208 | } __attribute__((packed)) AccConfig_t; |
| 130 | } __attribute__((packed)) HMC5843_Identification_t; |
209 | |
| 131 | 210 | volatile AccConfig_t AccConfig; |
|
| 132 | volatile HMC5843_Identification_t HMC5843_Identification; |
211 | |
| 133 | 212 | volatile s16vec_t AccVector; |
|
| 134 | 213 | ||
| Line 135... | Line 214... | ||
| 135 | 214 | ||
| 136 | // ---------- call back handlers ----------------------------------------- |
215 | // ---------- call back handlers ----------------------------------------- |
| 137 | 216 | ||
| 138 | // rx data handler for id info request |
217 | // rx data handler for id info request |
| 139 | void HMC5843_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
218 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
| 140 | { // if number of byte are matching |
219 | { // if number of byte are matching |
| 141 | if(RxBufferSize == sizeof(HMC5843_Identification) ) |
220 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
| 142 | { |
221 | { |
| 143 | memcpy((u8 *)&HMC5843_Identification, pRxBuffer, sizeof(HMC5843_Identification)); |
222 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
| 144 | } |
223 | } |
| 145 | } |
224 | } |
| 146 | 225 | ||
| 147 | // rx data handler for mag vector request |
226 | // rx data handler for mag vector request |
| 148 | void HMC5843_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
227 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
| - | 228 | { // if number of byte are matching |
|
| - | 229 | if(RxBufferSize == sizeof(MagVector) ) |
|
| - | 230 | { // byte order from big to little endian |
|
| - | 231 | MagVector.X = pRxBuffer[0]<<8; |
|
| - | 232 | MagVector.X+= pRxBuffer[1]; |
|
| - | 233 | MagVector.Y = pRxBuffer[2]<<8; |
|
| - | 234 | MagVector.Y+= pRxBuffer[3]; |
|
| - | 235 | MagVector.Z = pRxBuffer[4]<<8; |
|
| - | 236 | MagVector.Z+= pRxBuffer[5]; |
|
| - | 237 | } |
|
| - | 238 | // tbd. calculate heading from mag vector and attitude |
|
| - | 239 | CompassHeading = 50; // tbd. |
|
| - | 240 | } |
|
| - | 241 | ||
| - | 242 | // rx data handler for acc vector request |
|
| - | 243 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
|
| - | 244 | { // if number of byte are matching |
|
| 149 | { // if number of byte are matching |
245 | if(RxBufferSize == sizeof(AccVector) ) |
| Line -... | Line 246... | ||
| - | 246 | { |
|
| - | 247 | memcpy((u8*)&AccVector, pRxBuffer,sizeof(AccVector)); |
|
| - | 248 | } |
|
| - | 249 | } |
|
| - | 250 | ||
| - | 251 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
|
| - | 252 | { // if number of byte are matching |
|
| Line 150... | Line 253... | ||
| 150 | if(RxBufferSize == sizeof(MagVector) ) |
253 | if(RxBufferSize == sizeof(MagConfig) ) |
| - | 254 | { |
|
| - | 255 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
|
| - | 256 | } |
|
| - | 257 | } |
|
| - | 258 | ||
| - | 259 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
|
| - | 260 | { // if number of byte are matching |
|
| - | 261 | if(RxBufferSize == sizeof(AccConfig) ) |
|
| - | 262 | { |
|
| - | 263 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
|
| - | 264 | } |
|
| - | 265 | } |
|
| - | 266 | ||
| - | 267 | // ---------------------------------------------------------------------------------------- |
|
| - | 268 | u8 NCMAG_SetMagConfig(void) |
|
| - | 269 | { |
|
| - | 270 | u8 retval = 0; |
|
| - | 271 | // try to catch the i2c buffer within 100 ms timeout |
|
| - | 272 | if(I2C_LockBuffer(100)) |
|
| - | 273 | { |
|
| Line -... | Line 274... | ||
| - | 274 | u8 TxBytes = 0; |
|
| 151 | { // byte order from big to little endian |
275 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| 152 | MagVector.X = pRxBuffer[0]<<8; |
276 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
| 153 | MagVector.X+= pRxBuffer[1]; |
277 | TxBytes += sizeof(MagConfig); |
| 154 | MagVector.Y = pRxBuffer[2]<<8; |
278 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| 155 | MagVector.Y+= pRxBuffer[3]; |
279 | { |
| 156 | MagVector.Z = pRxBuffer[4]<<8; |
280 | if(I2C_WaitForEndOfTransmission(100)) |
| 157 | MagVector.Z+= pRxBuffer[5]; |
281 | { |
| 158 | } |
- | |
| 159 | // tbd. calculate heading from mag vector and attitude |
- | |
| 160 | CompassHeading = 50; // tbd. |
- | |
| 161 | } |
282 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 162 | - | ||
| 163 | 283 | } |
|
| 164 | // ---------------------------------------------------------------------------------------- |
284 | } |
| 165 | 285 | } |
|
| 166 | u8 HMC5843_GetIdentification(void) |
286 | return(retval); |
| 167 | { |
287 | } |
| 168 | u8 retval = 0; |
288 | |
| 169 | // try to catch the i2c buffer within 100 ms timeout |
289 | // ---------------------------------------------------------------------------------------- |
| 170 | if(I2C_LockBuffer(100)) |
290 | u8 NCMAG_GetMagConfig(void) |
| 171 | { |
291 | { |
| - | 292 | u8 retval = 0; |
|
| - | 293 | // try to catch the i2c buffer within 100 ms timeout |
|
| - | 294 | if(I2C_LockBuffer(100)) |
|
| - | 295 | { |
|
| - | 296 | u8 TxBytes = 0; |
|
| - | 297 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
|
| - | 298 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
|
| - | 299 | { |
|
| - | 300 | if(I2C_WaitForEndOfTransmission(100)) |
|
| - | 301 | { |
|
| - | 302 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
|
| - | 303 | } |
|
| - | 304 | } |
|
| - | 305 | } |
|
| - | 306 | return(retval); |
|
| - | 307 | } |
|
| - | 308 | ||
| - | 309 | // ---------------------------------------------------------------------------------------- |
|
| - | 310 | u8 NCMAG_SetAccConfig(void) |
|
| - | 311 | { |
|
| - | 312 | u8 retval = 0; |
|
| - | 313 | // try to catch the i2c buffer within 100 ms timeout |
|
| 172 | u16 TxBytes = 0; |
314 | if(I2C_LockBuffer(100)) |
| Line 173... | Line 315... | ||
| 173 | HMC5843_Identification.A = 0xFF; |
315 | { |
| 174 | HMC5843_Identification.B = 0xFF; |
316 | u8 TxBytes = 0; |
| 175 | HMC5843_Identification.C = 0xFF; |
317 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
| 176 | I2C_Buffer[TxBytes++] = REGISTER_IDA; |
318 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
| 177 | // initiate transmission |
319 | TxBytes += sizeof(AccConfig); |
| 178 | if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification))) |
320 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| 179 | { |
321 | { |
| 180 | if(I2C_WaitForEndOfTransmission(100)) |
322 | if(I2C_WaitForEndOfTransmission(100)) |
| 181 | { |
323 | { |
| - | 324 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
|
| - | 325 | } |
|
| - | 326 | } |
|
| - | 327 | } |
|
| - | 328 | return(retval); |
|
| - | 329 | } |
|
| - | 330 | ||
| - | 331 | // ---------------------------------------------------------------------------------------- |
|
| - | 332 | u8 NCMAG_GetAccConfig(void) |
|
| - | 333 | { |
|
| - | 334 | u8 retval = 0; |
|
| - | 335 | // try to catch the i2c buffer within 100 ms timeout |
|
| - | 336 | if(I2C_LockBuffer(100)) |
|
| - | 337 | { |
|
| - | 338 | u8 TxBytes = 0; |
|
| - | 339 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
|
| - | 340 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
|
| - | 341 | { |
|
| 182 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
342 | if(I2C_WaitForEndOfTransmission(100)) |
| - | 343 | { |
|
| - | 344 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
|
| 183 | } |
345 | } |
| 184 | } |
346 | } |
| 185 | } |
347 | } |
| 186 | return(retval); |
348 | return(retval); |
| 187 | } |
349 | } |
| 188 | 350 | ||
| 189 | // ---------------------------------------------------------------------------------------- |
351 | // ---------------------------------------------------------------------------------------- |
| 190 | u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode) |
352 | u8 NCMAG_GetIdentification(void) |
| 191 | { |
353 | { |
| 192 | u8 retval = 0; |
354 | u8 retval = 0; |
| 193 | // tra to catch the I2c buffer within 100 ms timeout |
355 | // try to catch the i2c buffer within 100 ms timeout |
| 194 | if(I2C_LockBuffer(100)) |
356 | if(I2C_LockBuffer(100)) |
| - | 357 | { |
|
| - | 358 | u16 TxBytes = 0; |
|
| - | 359 | NCMAG_Identification.A = 0xFF; |
|
| - | 360 | NCMAG_Identification.B = 0xFF; |
|
| - | 361 | NCMAG_Identification.C = 0xFF; |
|
| - | 362 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
|
| - | 363 | // initiate transmission |
|
| - | 364 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
|
| - | 365 | { |
|
| - | 366 | if(I2C_WaitForEndOfTransmission(100)) |
|
| - | 367 | { |
|
| - | 368 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
|
| - | 369 | } |
|
| - | 370 | } |
|
| 195 | { |
371 | } |
| Line 196... | Line 372... | ||
| 196 | u16 TxBytes = 0; |
372 | return(retval); |
| 197 | I2C_Buffer[TxBytes++] = REGISTER_CRA; |
373 | } |
| 198 | I2C_Buffer[TxBytes++] = cra; |
374 | |
| 199 | I2C_Buffer[TxBytes++] = crb; |
375 | // ---------------------------------------------------------------------------------------- |
| 200 | I2C_Buffer[TxBytes++] = mode; |
376 | void NCMAG_GetMagVector(void) |
| 201 | // initiate transmission |
377 | { |
| 202 | if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, NULL, 0)) |
378 | // try to catch the I2C buffer within 0 ms |
| 203 | { |
379 | if(I2C_LockBuffer(0)) |
| 204 | if(I2C_WaitForEndOfTransmission(50)) |
380 | { |
| 205 | { |
381 | u16 TxBytes = 0; |
| 206 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
382 | // set register pointer |
| 207 | } |
383 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
| 208 | } |
384 | // initiate transmission |
| Line -... | Line 385... | ||
| - | 385 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
|
| 209 | } |
386 | } |
| 210 | return(retval); |
387 | } |
| 211 | } |
388 | |
| Line 212... | Line 389... | ||
| 212 | 389 | //---------------------------------------------------------------- |
|
| 213 | //---------------------------------------------------------------- |
390 | void NCMAG_GetAccVector(void) |
| 214 | void HMC5843_GetMagVector(void) |
391 | { |
| 215 | { |
392 | // try to catch the I2C buffer within 0 ms |
| 216 | // try to catch the I2C buffer within 0 ms |
393 | if(I2C_LockBuffer(0)) |
| 217 | if(I2C_LockBuffer(0)) |
394 | { |
| 218 | { |
395 | u16 TxBytes = 0; |
| Line 240... | Line 417... | ||
| 240 | { |
417 | { |
| 241 | do the calibration here |
418 | do the calibration here |
| 242 | } |
419 | } |
| 243 | else // request current heading */ |
420 | else // request current heading */ |
| 244 | { |
421 | { |
| 245 | HMC5843_GetMagVector(); |
422 | NCMAG_GetMagVector(); |
| 246 | } |
423 | } |
| 247 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
424 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| 248 | } |
425 | } |
| 249 | } |
426 | } |
| Line 250... | Line 427... | ||
| 250 | 427 | ||
| 251 | u8 HMC5843_SelfTest(void) |
428 | u8 NCMAG_SelfTest(void) |
| - | 429 | { |
|
| 252 | { |
430 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
| 253 | u32 time; |
431 | u32 time; |
| 254 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
432 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
| - | 433 | s16 xscale, yscale, zscale, scale_min, scale_max; |
|
| 255 | s16 scale, scale_min, scale_max; |
434 | u8 crb_gain, cra_rate; |
| Line -... | Line 435... | ||
| - | 435 | u8 i = 0, retval = 1; |
|
| - | 436 | ||
| - | 437 | switch(NCMAG_MagType) |
|
| - | 438 | { |
|
| - | 439 | case MAG_TYPE_HMC5843: |
|
| - | 440 | crb_gain = HMC5843_CRB_GAIN_10GA; |
|
| - | 441 | cra_rate = HMC5843_CRA_RATE_50HZ; |
|
| - | 442 | xscale = HMC5843_TEST_XSCALE; |
|
| - | 443 | yscale = HMC5843_TEST_YSCALE; |
|
| - | 444 | zscale = HMC5843_TEST_ZSCALE; |
|
| - | 445 | break; |
|
| - | 446 | ||
| - | 447 | case MAG_TYPE_LSM303DLH: |
|
| - | 448 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
|
| - | 449 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
|
| - | 450 | xscale = LSM303DLH_TEST_XSCALE; |
|
| - | 451 | yscale = LSM303DLH_TEST_YSCALE; |
|
| - | 452 | zscale = LSM303DLH_TEST_ZSCALE; |
|
| - | 453 | break; |
|
| - | 454 | ||
| - | 455 | default: |
|
| - | 456 | return(0); |
|
| - | 457 | } |
|
| - | 458 | ||
| - | 459 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
|
| 256 | u8 i = 0; |
460 | MagConfig.crb = crb_gain; |
| 257 | 461 | MagConfig.mode = MODE_CONTINUOUS; |
|
| 258 | // activate positive bias field of 0.55 gauss |
462 | // activate positive bias field |
| 259 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
463 | NCMAG_SetMagConfig(); |
| 260 | // wait for stable readings |
464 | // wait for stable readings |
| 261 | time = SetDelay(50); |
465 | time = SetDelay(50); |
| - | 466 | while(!CheckDelay(time)); |
|
| 262 | while(!CheckDelay(time)); |
467 | // averaging |
| 263 | // averaging |
468 | #define AVERAGE 20 |
| 264 | for(i = 0; i<20; i++) |
469 | for(i = 0; i<AVERAGE; i++) |
| 265 | { |
470 | { |
| 266 | HMC5843_GetMagVector(); |
471 | NCMAG_GetMagVector(); |
| 267 | time = SetDelay(20); |
472 | time = SetDelay(20); |
| 268 | while(!CheckDelay(time)); |
473 | while(!CheckDelay(time)); |
| 269 | XMax += MagVector.X; |
474 | XMax += MagVector.X; |
| 270 | YMax += MagVector.Y; |
475 | YMax += MagVector.Y; |
| - | 476 | ZMax += MagVector.Z; |
|
| 271 | ZMax += MagVector.Z; |
477 | } |
| 272 | } |
478 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
| 273 | // activate negative bias field of 0.55 gauss |
479 | // activate positive bias field |
| 274 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
480 | NCMAG_SetMagConfig(); |
| 275 | // wait for stable readings |
481 | // wait for stable readings |
| 276 | time = SetDelay(50); |
482 | time = SetDelay(50); |
| 277 | while(!CheckDelay(time)); |
483 | while(!CheckDelay(time)); |
| 278 | // averaging |
484 | // averaging |
| 279 | for(i = 0; i < 20; i++) |
485 | for(i = 0; i < AVERAGE; i++) |
| 280 | { |
486 | { |
| 281 | HMC5843_GetMagVector(); |
487 | NCMAG_GetMagVector(); |
| 282 | time = SetDelay(20); |
488 | time = SetDelay(20); |
| 283 | while(!CheckDelay(time)); |
489 | while(!CheckDelay(time)); |
| 284 | XMin += MagVector.X; |
490 | XMin += MagVector.X; |
| 285 | YMin += MagVector.Y; |
491 | YMin += MagVector.Y; |
| 286 | ZMin += MagVector.Z; |
492 | ZMin += MagVector.Z; |
| 287 | } |
493 | } |
| - | 494 | // setup final configuration |
|
| - | 495 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
|
| 288 | // setup final configuration |
496 | // activate positive bias field |
| 289 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
- | |
| 290 | // prepare scale limits |
497 | NCMAG_SetMagConfig(); |
| 291 | scale = 715; // 1300 counts/Gauss * 0.55 Gauss = 715 counts |
- | |
| 292 | scale_min = (scale * 90)/100; |
498 | // prepare scale limits |
| 293 | scale_max = (scale * 110)/100; |
499 | LIMITS(xscale, scale_min, scale_max); |
| 294 | // check scale for all axes |
500 | // check scale for all axes |
| - | 501 | xscale = (XMax - XMin)/(2*AVERAGE); |
|
| 295 | scale = (XMax - XMin)/40; |
502 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
| 296 | if((scale > scale_max) || (scale < scale_min)) return(0); |
503 | LIMITS(yscale, scale_min, scale_max); |
| - | 504 | yscale = (YMax - YMin)/(2*AVERAGE); |
|
| 297 | scale = (YMax - YMin)/40; |
505 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
| 298 | if((scale > scale_max) || (scale < scale_min)) return(0); |
506 | LIMITS(zscale, scale_min, scale_max); |
| 299 | scale = (ZMax - ZMin)/40; |
507 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
| 300 | if((scale > scale_max) || (scale < scale_min)) return(0); |
508 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
| Line 301... | Line 509... | ||
| 301 | return(1); |
509 | return(retval); |
| 302 | } |
510 | } |
| 303 | 511 | ||
| 304 | 512 | ||
| 305 | //---------------------------------------------------------------- |
513 | //---------------------------------------------------------------- |
| 306 | u8 HMC5843_Init(void) |
514 | u8 NCMAG_Init(void) |
| Line 307... | Line 515... | ||
| 307 | { |
515 | { |
| - | 516 | u8 msg[64]; |
|
| - | 517 | u8 retval = 0; |
|
| - | 518 | u8 repeat; |
|
| - | 519 | ||
| 308 | u8 msg[64]; |
520 | NCMAG_Present = 0; |
| - | 521 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
|
| - | 522 | // polling for LSM302DLH option |
|
| - | 523 | repeat = 0; |
|
| - | 524 | do |
|
| - | 525 | { |
|
| - | 526 | retval = NCMAG_GetAccConfig(); |
|
| 309 | u8 retval = 0; |
527 | if(retval) break; // break loop on success |
| 310 | u8 repeat; |
528 | UART1_PutString("."); |
| 311 | 529 | repeat++; |
|
| 312 | HMC5843_Present = 0; |
530 | }while(repeat < 3); |
| 313 | 531 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
|
| 314 | // polling of identification |
532 | // polling of identification |
| 315 | repeat = 0; |
533 | repeat = 0; |
| 316 | do |
534 | do |
| 317 | { |
535 | { |
| 318 | retval = HMC5843_GetIdentification(); |
536 | retval = NCMAG_GetIdentification(); |
| 319 | if(retval) break; // break loop on success |
537 | if(retval) break; // break loop on success |
| 320 | UART1_PutString("."); |
538 | UART1_PutString("."); |
| - | 539 | repeat++; |
|
| - | 540 | }while(repeat < 12); |
|
| - | 541 | // if we got an answer to id request |
|
| - | 542 | if(retval) |
|
| - | 543 | { |
|
| 321 | repeat++; |
544 | u8 n1[] = "HMC5843"; |
| 322 | }while(repeat < 12); |
545 | u8 n2[] = "LSM303DLH"; |
| 323 | // if we got it |
- | |
| 324 | if(retval) |
546 | u8* pn; |
| 325 | { |
547 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
| 326 | sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C); |
548 | else pn = n1; |
| 327 | UART1_PutString(msg); |
549 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
| 328 | - | ||
| 329 | if ( (HMC5843_Identification.A == HMC5843_IDA) |
550 | UART1_PutString(msg); |
| 330 | && (HMC5843_Identification.B == HMC5843_IDB) |
551 | if ( (NCMAG_Identification.A == MAG_IDA) |
| 331 | && (HMC5843_Identification.C == HMC5843_IDC)) |
552 | && (NCMAG_Identification.B == MAG_IDB) |
| 332 | { |
553 | && (NCMAG_Identification.C == MAG_IDC)) |
| 333 | //HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
554 | { |
| 334 | if(!HMC5843_SelfTest()) |
555 | if(!NCMAG_SelfTest()) |
| 335 | { |
556 | { |
| 336 | UART1_PutString("\n\r HMC5843 selftest failed!"); |
557 | UART1_PutString(" Selftest failed!"); |
| 337 | LED_RED_ON; |
558 | LED_RED_ON; |
| 338 | } |
559 | } |
| 339 | else HMC5843_Present = 1; |
560 | else NCMAG_Present = 1; |
| 340 | } |
561 | } |
| 341 | else |
562 | else |
| 342 | { |
563 | { |
| - | 564 | UART1_PutString("\n\r not compatible!"); |
|
| - | 565 | LED_RED_ON; |
|
| - | 566 | } |
|
| - | 567 | } |
|
| 343 | UART1_PutString("\n\r HMC5843 not compatible!"); |
568 | else // nothing found |
| 344 | LED_RED_ON; |
569 | { |